#include "particles.h"

namespace bdm {

using std::endl;

void PF::bayes ( const vec &dt ) {
	int i;
	vec lls ( n );
	ivec ind;
	double mlls = -std::numeric_limits<double>::infinity(), sum = 0.0;

	for ( i = 0; i < n; i++ ) {
		//generate new samples from paramater evolution model;
		vec old_smp=_samples ( i );
		_samples ( i ) = par->samplecond ( old_smp );
		lls ( i ) = par->evallogcond ( _samples ( i ), old_smp );
		lls ( i ) *= obs->evallogcond ( dt, _samples ( i ) );

		if ( lls ( i ) > mlls ) mlls = lls ( i ); //find maximum
	}

	// compute weights
	for ( i = 0; i < n; i++ ) {
		_w ( i ) *= exp ( lls ( i ) - mlls ); // multiply w by likelihood
	}

	//renormalize
	for ( i = 0; i < n; i++ ) {
		sum += _w ( i );
	};

	_w ( i ) /= sum; //?

	ind = est.resample ( resmethod );

}

// void PF::set_est ( const epdf &epdf0 ) {
// 	int i;
//
// 	for ( i=0;i<n;i++ ) {
// 		_samples ( i ) = epdf0.sample();
// 	}
// }


}
//MPF::MPF:{}